چكيده به لاتين
Abstract
The soft tips of the fingers play a considering role in grasping; not only is the stability of a typical grasp strongly dependent on contact conditions but rolling, as a constraint, would be approached by such feature. Grasping a sphere-formed ball by a pair of soft-tip parallel fingers is presented. For starters, dynamic and kinematic equations are developed by modeling the system as a mass-spring one. Then, a position-based impedance control is developed to get the implementation and validation of a system in which a pair of soft-tip fingers holding a deformable ball is simulated in MSC ADAMS linked with MATLAB-Simulink. Moreover, the controller is implemented on a real system taking feedback from an image processing set-up. The result of both simulation and experiment shows the ability of controller in tracking the fingers till they touch the ball and more prominently, guaranteeing the stability of grasping.
Keywords: Grasping, Fingers with soft-tips, Elastic object, Impedance control, Stability
